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   <div id="projectname">Rapidly Exploring Random Tree (RRT) Global Path Planner Plugin
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   <div id="projectbrief">Global path planner plugin for ROS Kinetic Kame that uses the RRT algorithm</div>
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<div class="title">README </div>  </div>
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<div class="contents">
<div class="textblock"><p><a href="https://travis-ci.org/jeshoward/turtlebot_rrt"></a> Travis Build Status</p>
<p><a href="https://coveralls.io/github/jeshoward/turtlebot_rrt?branch=master"></a> Coveralls Code Coverage Status</p>
<p><a href="https://opensource.org/licenses/BSD-3-Clause"></a> Software License</p>
<h1>Randomly Exploring Random Tree Path Planner ROS Plugin</h1>
<p>This plugin implements a simulated Randomly Exploring Random Tree (RRT) path planner for the Kinetic Kame release of the Robot Operating System (ROS) framework. It uses the nav_core::BaseGlobalPlanner interface and can be used on any platforms that implement the move_base package, but has been specifically tested using the simulated Turtlebot platform.</p>
<h2>Table of Contents</h2>
<ul>
<li><a href="#personnel">Personnel</a></li>
<li><a href="#installation">Installation</a></li>
<li><a href="#usage">Usage</a></li>
<li><a href="#api">API and Documentation</a></li>
<li><a href="#issues">Known Issues and Bugs</a></li>
<li><a href="#sip">SIP Status</a></li>
<li><a href="#license">License</a></li>
</ul>
<h2>Personnel</h2>
<p>This plugin was created by <a href="jmhoward@umd.edu">Jessica Howard</a> as a final project for the University of Maryland course ENPM808X - Software Development for Robotics during the Fall 2017 semester.</p>
<h2>Installation</h2>
<p>Clone the package into your catkin workspace: </p><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;cd [workspace]/src</div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;git clone https://github.com/jeshoward/turtlebot_rrt.git</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;cd ..</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;catkin_make</div></div><!-- fragment --><h3>Dependencies</h3>
<ol type="1">
<li>ROS Kinetic Kame <a href="docs/README_DEPENDENCIES.md#ros">(Installation Instructions)</a></li>
<li>Catkin <a href="docs/README_DEPENDENCIES.md#catkin">(Installation Instructions)</a></li>
<li>Rviz <a href="/docs/README_DEPENDENCIES.md#rviz">(Installation Instructions)</a></li>
<li>Gazebo <a href="/docs/README_DEPENDENCIES.dm#gazebo">(Installation Instructions)</a></li>
</ol>
<h2>Usage</h2>
<p>TODO:</p>
<h3>Parameters</h3>
<p>TODO: Add parameters and explanations</p>
<h3>Demo Steps</h3>
<p>These steps assume that you have already cloned the repository, if not see <a href="#installation">Installation</a>.</p>
<ol type="1">
<li>Run the demo launch file <div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;roslaunch turtlebot_rrt rrt_planner.launch</div></div><!-- fragment --> <div class="image">
<img src="turtlebot_rrt/docs/images/turtlebot_rrt_demo.png"  alt="alt text" title="Simple Maze map displayed in Rviz and Gazebo"/>
</div>
</li>
<li>To set a goal for the robot switch to the Rviz window and and click "2D Nav Goal" at the top and select on the map where you want the robot to go.</li>
</ol>
<h4>Creating Custom Maps</h4>
<p>A single demo map has been provided here, if you want to create your own Gazebo worlds and this RRT algorithm to navigate them follow <a class="el" href="md_docs_MAP_CONVERSION.html">this</a> tutorial.</p>
<h3>Test Steps</h3>
<p>These steps assume that you have already cloned the repository, if not see <a href="#installation">Installation</a>.</p>
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;cd [workspace]/src</div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;catkin_make run_tests &amp;&amp; catkin_test_results</div></div><!-- fragment --><p> TODO: Add screenshot of successful tests and link to coveralls test coverage</p>
<h2>Issues</h2>
<p>Issue tracking sheet can be found with the <a href="https://docs.google.com/spreadsheets/d/11MImRGM0dvr5bSlyq22xXTaM7s8ReXDSpWUyN7IlM3k/edit?usp=sharing">Sprint Backlog</a> in the Issues tab.</p>
<p>Summary:</p><ol type="1">
<li>TR-1 Coveralls not recognizing build and running coverage tests</li>
</ol>
<h2>API</h2>
<p>TODO</p>
<h2>SIP</h2>
<ul>
<li><a href="https://docs.google.com/spreadsheets/d/11MImRGM0dvr5bSlyq22xXTaM7s8ReXDSpWUyN7IlM3k/edit?usp=sharing">Sprint Backlog and Issue Tracking</a></li>
<li><a href="https://docs.google.com/document/d/175Ea56UEoEn6o_A4oEjhvzU04l2S9aK262BWnC1AG4U/edit?usp=sharing">Sprint Planning Notes</a></li>
</ul>
<h2>License</h2>
<p>BSD 3-Clause License</p>
<p>Copyright (c) 2017, Jessica Howard All rights reserved.</p>
<p>Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:</p><ul>
<li>Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.</li>
<li>Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.</li>
<li>Neither the name of the &lt;organization&gt; nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.</li>
</ul>
<p>THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL &lt;COPYRIGHT holder&gt;=""&gt; BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. </p>
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